/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * File Name          : app_freertos.c
  * Description        : Code for freertos applications
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
// #include "tim.h"
#include "service.h"
#include "pwm.h"
#include "abz_encoder.h"
#include "my_flash.h"
#include "confSaveAndLoad.h"
#include "elog.h"
#include "my_log.h"
// #include "encoder.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */

/* USER CODE END Variables */
/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = {
  .name = "defaultTask",
  .priority = (osPriority_t) osPriorityNormal,
  .stack_size = 128 * 4
};

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */

/* USER CODE END FunctionPrototypes */

void StartDefaultTask(void *argument);

void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* creation of defaultTask */
  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  /* USER CODE END RTOS_THREADS */

  /* USER CODE BEGIN RTOS_EVENTS */
  /* add events, ... */
  /* USER CODE END RTOS_EVENTS */

}

/* USER CODE BEGIN Header_StartDefaultTask */
/**
  * @brief  Function implementing the defaultTask thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{

  // my_log_init();

  /* USER CODE BEGIN StartDefaultTask */
  /* Infinite loop */
  // while (true)
  // {
  //   printf("running!\n");
  //   // Test_Flash();
  //   osDelay(1000);
  //   // conf_save(&motor_config);
  //   conf_saveAndLoad_test();
  // }
  
  // 创建 foc_task
  xTaskCreate(foc_task, "FocTask", 256, NULL, osPriorityRealtime, &focTaskHandle);
  xTaskCreate(pid_task, "PidTask", 256, NULL, osPriorityHigh, &pidTaskHandle);
  xTaskCreate(monitor_task, "MonitorTask", 256, NULL, osPriorityNormal, &monitorTaskHandle);
  // 启动 TIM1 基本计数器
  // 启动注入转换
  if (HAL_ADCEx_InjectedStart_IT(&hadc1) != HAL_OK)
  {
      Error_Handler();
  }
  printf("start\n");
  for(;;)
  { 
    HAL_ADC_Start(&hadc2);
    uint32_t adcValue = HAL_ADC_GetValue(&hadc2);
    float temperature = (((float)adcValue / 4095.0f) * 3.3f - 0.579f) / 0.0274f + 25.0f;
    // printf("temperature: %f\n", temperature);
        // 检查温度是否超过 100 度
    if (temperature > 100.0f)
    {
      // 停止 TIM1 基本计数器和所有 PWM 输出
      PWM_Stop();

      // 打印错误信息
      printf("Error: Temperature exceeded 100 degrees! PWM stopped.\n");

      // 处理错误（例如进入安全模式或重启系统）
      Error_Handler();
    }

    // uint32_t adcValues[3] = {0};
    // Read_All_ADC1_Channels(adcValues);
    // // 打印 ADC 通道的值
    // printf("VBUS: %lu\n", adcValues[0]);
    // printf("CURRENT_AMPL_U: %lu\n", adcValues[1]);
    // printf("CURRENT_AMPL_V: %lu\n", adcValues[2]);
    // Read_All_ADC2_Channels(adcValues);
    // printf("CURRENT_AMPL_W: %lu\n", adcValues[0]);
    // printf("TEMPERATURE_NTC: %lu\n", adcValues[1]);
    // printf("CURRENT_AMPL_V: %lu\n", adcValues[2]);
    osDelay(10);
  }
  /* USER CODE END StartDefaultTask */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */

/* USER CODE END Application */

